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<a href="#func-members">Functions</a>  </div>
  <div class="headertitle"><div class="title">Point Cloud Cluster Extraction</div></div>
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<p>Performs Euclidean cluster extraction on a point cloud.  
<a href="#details">More...</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ga62a0d02930f5969cbff707afe01d1bcd" id="r_ga62a0d02930f5969cbff707afe01d1bcd"><td class="memItemLeft" align="right" valign="top"><a id="ga62a0d02930f5969cbff707afe01d1bcd" name="ga62a0d02930f5969cbff707afe01d1bcd"></a>
std::vector&lt; pcl::IndicesPtr &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractClusters</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits&lt; int &gt;::max(), int *biggestClusterIndex=0)</td></tr>
<tr class="memdesc:ga62a0d02930f5969cbff707afe01d1bcd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract clusters from point cloud of type <code>pcl::PointXYZ</code>. <br /></td></tr>
<tr class="separator:ga62a0d02930f5969cbff707afe01d1bcd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga180048dc26009c5d6d1233bb6ce5de04" id="r_ga180048dc26009c5d6d1233bb6ce5de04"><td class="memItemLeft" align="right" valign="top"><a id="ga180048dc26009c5d6d1233bb6ce5de04" name="ga180048dc26009c5d6d1233bb6ce5de04"></a>
std::vector&lt; pcl::IndicesPtr &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractClusters</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits&lt; int &gt;::max(), int *biggestClusterIndex=0)</td></tr>
<tr class="memdesc:ga180048dc26009c5d6d1233bb6ce5de04"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract clusters from point cloud of type <code>pcl::PointXYZRGB</code>. <br /></td></tr>
<tr class="separator:ga180048dc26009c5d6d1233bb6ce5de04"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga8184974cc084fdd804e82bb979eb2353" id="r_ga8184974cc084fdd804e82bb979eb2353"><td class="memItemLeft" align="right" valign="top"><a id="ga8184974cc084fdd804e82bb979eb2353" name="ga8184974cc084fdd804e82bb979eb2353"></a>
std::vector&lt; pcl::IndicesPtr &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractClusters</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits&lt; int &gt;::max(), int *biggestClusterIndex=0)</td></tr>
<tr class="memdesc:ga8184974cc084fdd804e82bb979eb2353"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract clusters from point cloud of type <code>pcl::PointXYZ</code> inside provided indices. <br /></td></tr>
<tr class="separator:ga8184974cc084fdd804e82bb979eb2353"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaecfbf327f7ef38738d0e592ed470d318" id="r_gaecfbf327f7ef38738d0e592ed470d318"><td class="memItemLeft" align="right" valign="top"><a id="gaecfbf327f7ef38738d0e592ed470d318" name="gaecfbf327f7ef38738d0e592ed470d318"></a>
std::vector&lt; pcl::IndicesPtr &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractClusters</b> (const pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits&lt; int &gt;::max(), int *biggestClusterIndex=0)</td></tr>
<tr class="memdesc:gaecfbf327f7ef38738d0e592ed470d318"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract clusters from point cloud of type <code>pcl::PointNormal</code> inside provided indices. <br /></td></tr>
<tr class="separator:gaecfbf327f7ef38738d0e592ed470d318"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga7c622ccc41a487527f0448db84fd8539" id="r_ga7c622ccc41a487527f0448db84fd8539"><td class="memItemLeft" align="right" valign="top"><a id="ga7c622ccc41a487527f0448db84fd8539" name="ga7c622ccc41a487527f0448db84fd8539"></a>
std::vector&lt; pcl::IndicesPtr &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractClusters</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits&lt; int &gt;::max(), int *biggestClusterIndex=0)</td></tr>
<tr class="memdesc:ga7c622ccc41a487527f0448db84fd8539"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract clusters from point cloud of type <code>pcl::PointXYZRGB</code> inside provided indices. <br /></td></tr>
<tr class="separator:ga7c622ccc41a487527f0448db84fd8539"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gada592bb1e0525a32412d5009002b9b1e" id="r_gada592bb1e0525a32412d5009002b9b1e"><td class="memItemLeft" align="right" valign="top"><a id="gada592bb1e0525a32412d5009002b9b1e" name="gada592bb1e0525a32412d5009002b9b1e"></a>
std::vector&lt; pcl::IndicesPtr &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractClusters</b> (const pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits&lt; int &gt;::max(), int *biggestClusterIndex=0)</td></tr>
<tr class="memdesc:gada592bb1e0525a32412d5009002b9b1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract clusters from point cloud of type <code>pcl::PointXYZRGBNormal</code> inside provided indices. <br /></td></tr>
<tr class="separator:gada592bb1e0525a32412d5009002b9b1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga3e51576a82fef5cddffe4d3ae14d8899" id="r_ga3e51576a82fef5cddffe4d3ae14d8899"><td class="memItemLeft" align="right" valign="top"><a id="ga3e51576a82fef5cddffe4d3ae14d8899" name="ga3e51576a82fef5cddffe4d3ae14d8899"></a>
std::vector&lt; pcl::IndicesPtr &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractClusters</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits&lt; int &gt;::max(), int *biggestClusterIndex=0)</td></tr>
<tr class="memdesc:ga3e51576a82fef5cddffe4d3ae14d8899"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract clusters from point cloud of type <code>pcl::PointXYZI</code> inside provided indices. <br /></td></tr>
<tr class="separator:ga3e51576a82fef5cddffe4d3ae14d8899"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga8e23ae8df06afbb753eb6eb0b54a400a" id="r_ga8e23ae8df06afbb753eb6eb0b54a400a"><td class="memItemLeft" align="right" valign="top"><a id="ga8e23ae8df06afbb753eb6eb0b54a400a" name="ga8e23ae8df06afbb753eb6eb0b54a400a"></a>
std::vector&lt; pcl::IndicesPtr &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::extractClusters</b> (const pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits&lt; int &gt;::max(), int *biggestClusterIndex=0)</td></tr>
<tr class="memdesc:ga8e23ae8df06afbb753eb6eb0b54a400a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract clusters from point cloud of type <code>pcl::PointXYZ</code>. <br /></td></tr>
<tr class="separator:ga8e23ae8df06afbb753eb6eb0b54a400a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>Performs Euclidean cluster extraction on a point cloud. </p>
<p>This function uses PCL's Euclidean clustering algorithm to segment the input point cloud into clusters based on spatial proximity. It optionally considers a subset of indices within the cloud, and returns the list of clusters as vectors of point indices.</p>
<p>Additionally, it can return the index of the largest cluster found.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cloud</td><td>The input point cloud from which clusters will be extracted. </td></tr>
    <tr><td class="paramname">indices</td><td>Optional pointer to a list of indices to consider for clustering. If empty, the full cloud is used. </td></tr>
    <tr><td class="paramname">clusterTolerance</td><td>The spatial distance threshold for clustering. Points within this distance are considered part of the same cluster. </td></tr>
    <tr><td class="paramname">minClusterSize</td><td>The minimum number of points required for a valid cluster. </td></tr>
    <tr><td class="paramname">maxClusterSize</td><td>The maximum number of points allowed in a cluster. </td></tr>
    <tr><td class="paramname">biggestClusterIndex</td><td>Optional output pointer. If not null, it will be set to the index of the largest cluster in the output.</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>A vector of indices, where each element contains the indices of one extracted cluster.</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Internally, this uses a KdTree for spatial searches and <code>pcl::EuclideanClusterExtraction</code> for segmentation. </dd>
<dd>
The order of clusters in the output is not guaranteed to reflect size or position. </dd>
<dd>
If no clusters are found, the output vector will be empty and biggestClusterIndex will be set to -1. </dd></dl>
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